Multi-directional mechanical positioning apparatus

Abstract

A low cost multi-directional movement cam controlled mechanical positioning apparatus is described for automatically tracing out the path of movement for the working head of a machine tool or the like. The apparatus may be embodied in a single machine providing for three-dimensional movement of the working head with or without additional controlled movement of the working head in either pitch, roll or yaw. Alternatively, the apparatus can be employed to provide additional degrees of movement either along a z-axis and/or in either pitch, roll or yaw to the working head of a two-dimensional automatic machine tool or conventional construction. The apparatus comprises a set of at least three relatively large diameter, disk-type, control-drive cams rotatably supported on a base member for controlling movement of the working head of a machine tool or the like within a plane defined by complementary axes of movement (such as the x-y axes) and along at least one additional degree of movement. A motor is provided for rotating the control-drive cams at a predetermined speed of rotation and cam follower means engage respective movement inducing cam surfaces formed on respective ones of the control-drive cams. Cam follower linkages coupled to respective ones of the cam followers directly drive a differentially operable transport mechanism that is supported on low friction wheels and tracks. The working head of the machine tool is secured to the transport mechanism and is moved thereby over a predetermined planar path of movement. A transport mechanism follower is coupled to the transport mechanism for freely following movement of the transport mechanism in its plane of movement without interference. Additional mechanical movement motion transmission means responsive to the additional cam follower and supported by the transport mechanism follower are provided for transmitting additional degrees of movement to the working head.

What is claimed is: 
     
       1. A low cost multi-directional movement cam controlled mechanical positioning apparatus for automatically tracing out a predetermined path of movement for the working head of a machine tool or the like supported on a base member wherein said apparatus comprises a set of at least three relatively large diameter disk-type grooved control-drive cam surfaces rotatably supported on said base member for controlling movement of the working head within a plane defined by complementary axes of movement and along at least one additional degree of movement, means mounted on said base member for rotating said control-drive cam surfaces at predetermined speeds of rotation, cam followers engaging the respective movement inducing cam surfaces, linkage means coupled to respective ones of said cam followers for mechanically coupling movement of the cam followers to the working head of the machine tool to thereby move the working head over a predetermined path of movement, a differentially operable transport mechanism for supporting the working head, said differentially operable transport mechanism being movably supported on said base member by support means mounted for independent movement of the transport mechanism by respective cam follower and linkage means along each axis of movement with a plane defined by the complementary axes of movement without interference with movement of the transport mechanism along either complementary axes, said linkage mean including planar complementary axes of movement inducing linkage means coupled to and mechanically driving said transport mechanism along each axis of movement within the plane defined by the complementary axes of movement, a mechanical transport mechanism follower coupled between the base and the transport mechanism for freely and passively following movement of the transport mechanism in its plane of movement without interference and additional mechanical movement motion transmission apparatus responsive to the remaining cam follower and supported by said transport mechanism follower for mechanically transmitting at least one additional degree of movement to the working head. 
     
     
       2. A cam controlled mechanical positioning apparatus according to claim 1 wherein said transport mechanism follower comprise a swivel jointed pantograph mechanism having the end of one arm swivelly secured to the base member and the end of a remaining arm swivelly secured to the transport mechanism and wherein the plane of movement of the pantograph mechanism is parallel to the plane of movement of the transport mechanism. 
     
     
       3. A cam controlled mechanical positioning apparatus according to claim 1 wherein said additional mechanical motion transmission apparatus comprises linear to rotational motion converting means coupled to the remaining cam follower for converting linear movement of the additional cam follower to corresponding rotational motion and rotational motion translating means mounted adjacent the working head and responsive to the linear to rotational motion converting means for translating the rotational motion into another degree of movement for the working head. 
     
     
       4. A cam controlled mechanical positioning apparatus according to claim 2 wherein said additional mechanical motion transmission comprises linear to rotational motion converting means coupled to the remaining cam follower for converting linear movement of the additional cam follower to corresponding rotational motion and rotational motion translating means mounted adjacent the working head and responsive to the linear to rotational motion converting means for translating the rotational motion into another degree of movement for the working head. 
     
     
       5. A cam controlled mechanical positioning apparatus according to claim 3 wherein the linear to rotational motion converting means comprises rack and pinion means coupled to the additional cam follower and first sprocket and chain drive means mechanically driven by the pinion of the rack and pinion means and wherein said rotational motion translating means comprises second sprocket and chain driven means responsive to said first sprocket and chain drive means and additional working head drive means supported by the transport mechanism, said additional working head drive means being coupled to and driving the working head along at least one additional degree of movement and being coupled to and driven by the second sprocket and chain driven means. 
     
     
       6. A cam controlled mechanical positioning apparatus according to claim 4 wherein the linear to rotational motion converting means comprises rack and pinion means coupled to the additional cam follower and first sprocket and chain drive means mechanically driven by the pinion of the rack and pinion means and wherein said rotational motion translating means comprises second sprocket and chain driven means responsive to said first sprocket and chain drive means and rotatable working head drive means supported on the transport mechanism, said rotatable working head drive means being coupled to and driving the working head along at least one additional path of movement and being mechanically coupled to and driven by the second sprocket and chain driven means. 
     
     
       7. A cam controlled mechanical positioning apparatus according to claim 1 further including elongated boom means having one end secured to the transport mechanism with the working head supported on the remaining free end and wherein the transport mechanism follower is secured to and follows movement of the elongated boom means. 
     
     
       8. A cam controlled mechanical positioning apparatus according to claim 2 further including elongated boom means having one end secured to the transport mechanism and the working head supported on its remaining free end, the swivel jointed pantograph mechanism having the end of one arm swivelly secured to the end of the boom means supporting the working head and having the end of a remaining arm swivelly secured to the base member. 
     
     
       9. A cam controlled mechanical positioning apparatus according to claim 6 further including elongated boom means having one end secured to the transport mechanism and the working head supported on its remaining free end, the swivel jointed pantograph mechanism having the end of one arm swivelly secured to the end of the boom means supporting the working head and having the end of a remaining arm swivelly secured to the base member. 
     
     
       10. A cam controlled mechanical positioning apparatus according to claim 1 further including mechanical movement amplifying means acting on the transport mechanism for amplifying and extending the movement translated to the working head along at least one axis of movement. 
     
     
       11. A cam controlled mechanical positioning apparatus according to claim 9 further including mechanical movement amplifying means acting on the transport mechanism for amplifying and extending the movement translated to the working head along at least one axis of movement. 
     
     
       12. A cam controlled mechanical positioning apparatus according to claim 11 wherein the relatively large disktype control-drive cam surfaces are generally circular in shape and have a diameter of the order of 20 to 40 inches with the control-drive cam surfaces being formed at any point along a radius whereby the radius defines the full stroke of movement of the cam follower. 
     
     
       13. A cam controlled mechanical positioning apparatus according to claim 12 wherein the control-drive cam surfaces comprise grooves formed in corresponding flat surfaces of three disk-type control-drive cams with the grooves being double acting in effect whereby bidirectional control of movement of the cam follower is achieved and the flat surfaces of the control-drive cams on which the grooves are formed are downwardly disposed whereby the control-drive cam surfaces are protected from the deposition of dirt or other matter and minimal frictional contact resistance with the cam follower is achieved. 
     
     
       14. A cam controlled mechanical positioning apparatus according to claim 13 wherein the cam follower, the linkage means and the transport mechanism all are constructed of light-weight durable material whereby minimum inertia effects are attained and dynamic forces acting on the apparatus are maintained at a low level. 
     
     
       15. A cam controlled mechanical positioning apparatus according to claim 14 wherein the contour of the cam surfaces formed in the respective control-drive cams is designed to include the kinematics of the follower, the linkage means and the transport mechanism in order to provide a desired motion pattern for the working head and the contour of the control-drive cam surfaces is not identical to the configuration of the path of movement of the working head. 
     
     
       16. A cam controlled mechanical positioning apparatus according to claim 1 further including a controller-actuator disk mounted coaxially with a plurality of disk-type control-drive cams on which the control drive cam surfaces are formed and further including electrical encoding means peripherally arrayed around said controller-actuator disk and engagable thereby at certain peripheral points during rotation of the disk whereby electrical control signals are produced for controlling desired auxiliary functions at predetermined points in the path of movement of the working head. 
     
     
       17. A cam controlled mechanical positioning apparatus according to claim 15 further including a controller-actuator disk mounted coaxially with the disk-type control-drive cams and further including electrical encoding means peripherally arrayed around said controller-actuator disk and engagable thereby at certain peripheral points during rotation of the disk whereby electrical control signals are produced for controlling desired auxiliary functions at predetermined points in the path of movement of the working head. 
     
     
       18. A cam controlled mechanical positioning apparatus according to claim 17 wherein said disk-type control-drive cams and controller-actuator disk include means whereby they may be readily removed and replaced with other cams and disks having differently programmed control surfaces formed therein for producing a different pattern of movement for the working head. 
     
     
       19. A cam controlled mechanical positioning apparatus according to claim 1 wherein said linkage means comprises at least one pivoted swinging arc linkage arm having its respective cam follower engaging an intermediate point thereof between a pivoted end and a swinging arc free end for mechanically amplifying the scope of movement induced by the control-drive cam surfaces and cam follower at the swinging arc free end, the swinging arc free end of the respective linkage arm being connected to the transport mechanism for providing a greater scope of movement thereto than the scope of movement of the cam follower and wherein the contour of the control drive cam surfaces is designed to compensate for the swinging arc movement of the swinging arc free end of the linkage arm to convert movement thereof to substantially rectilinear movement. 
     
     
       20. A cam controlled mechanical positioning apparatus according to claim 18 wherein said linkage means comprises at least one pivoted swinging arc linkage arm having its respective cam follower engaging an intermediate point thereof between a pivoted end and a swinging arc free end for mechanically amplifying the scope of movement induced by the control-drive cam and cam follower at the swinging arc free end, the swinging arc free end of the respective linkage arm being connected to the transport mechanism for providing a greater scope of movement thereto than the scope of movement of the cam follower and wherein the contour of the cam surfaces formed in the respective control-drive cams is designed to compensate for the swinging arc movement of the swinging arc free end of the linkage arm to convert the movement thereof to substantially rectilinear movement. 
     
     
       21. A low cost three-dimensional movement cam controlled mechanical positioning apparatus for automatically tracing out a predetermined path of movement for the working head of a machine tool or the like wherein said apparatus comprises at least three relatively large diameter disk-type grooved control-drive cam surfaces driven by a common drive shaft rotatably supported on a base member, motor means mounted on said base member and coupled to said common drive shaft for rotating said control-drive cam surfaces at a predetermined speed of rotation, at least three cam followers engaging respective cam surfaces for inducing x, y and z movements, x, y and z axis linkage means coupled to respective ones of said cam followers for mechanically coupling movement of the cam followers to the working head to thereby move the working head over a predetermined three-dimensional path of movement, a differentially operated transport mechanism for supporting the working head, said transport mechanism being movably supported by support means and mounted for independent movement along the respective x or y axis without interference, the x and y axis linkage means being coupled to and mechanically driving said transport mechanism in a manner such that the plane of x-y movement of the transport mechanism is parallel to the plane of the control-drive cam surfaces, a transport mechanism follower coupled between the base member and the transport mechanism for freely and passively following movement of the transport mechanism in the x-y plane of movement without interference and additional z-axis mechanical movement transmission apparatus responsive to the z-axis cam follower and supported by said transport mechanism follower for mechanically transmitting z-axis movement to the working head. 
     
     
       22. A cam controlled mechanical positioning apparatus according to claim 21 wherein said transport mechanism follower comprises a swivel jointed pantograph mechanism having the end of one arm swivelly secured to the base member and the end of a remaining arm swivelly secured to the transport mechanism and wherein the plane of movement of the pantograph mechanism is parallel to the x-y plane of movement of the transport mechanism. 
     
     
       23. A cam controlled mechanical positioning apparatus according to claim 22 wherein said z-axis additional movement transmission apparatus comprises linear to rotational motion converting means coupled to the z-axis cam follower for converting z-axis linear movement of the z-axis cam follower to corresponding rotational motion and rotational to linear motion converting means mounted to the working head for reconverting the rotational motion to linear movement of the working head along the z-axis of movement. 
     
     
       24. A cam controlled mechanical positioning apparatus according to claim 23 wherein the linear to rotational motion converting means comprises rack and pinion means coupled to the z-axis cam follower and first sprocket and chain drive means mechanically driven by the pinion of the rack and pinion means and wherein said rotational to linear motion converting means comprises second sprocket and chain driven means responsive to said first sprocket and chain drive means and rotatable screw shaft and nut means mounted to the transport mechanism, said rotatable screw shaft rotatably driving the working head along the z-axis of movement and being mechanically coupled to and rotated by the second sprocket and chain driven means. 
     
     
       25. A cam controlled mechanical positioning apparatus according to claim 21 further including elongated boom means having one end secured to the transport mechanism with the working head supported on the remaining free end and wherein the transport mechanism follower is secured to and follows movement of the elongated boom means. 
     
     
       26. A cam controlled mechanical positioning apparatus according to claim 24 further including elongated boom means having one end secured to the transport mechanism and the working head supported on the remaining free end, the swivel jointed pantograph mechanism having the end of one arm swivelly secured to the end of the boom means supporting the working head and having the end of a remaining arm swivelly secured to the base member. 
     
     
       27. A cam controlled mechanical positioning apparatus according to claim 26 further including a controller-actuator disk mounted coaxially with a plurality of disk-type control-drive cams on which the control drive cam surfaces are formed and mounted on the rotatable drive shaft and further including electrical encoding means peripherally arrayed around said controller-actuator disk and engagable thereby at certain peripheral points during rotation of the disk whereby electrical control signals are produced for controlling desired auxiliary functions at predetermined points in the path of movement of the working head. 
     
     
       28. A cam controlled mechanical positioning apparatus according to claim 27 wherein said disk-type control-drive cams and controller-actuator disk include means whereby they may be readily removed and replaced with other cams and disks having differently programmed control surfaces formed thereon for producing a different pattern of movement for the working head, the relatively large disk-type control-drive cams are generally circular in shape and have a diameter of the order of 20 to 40 inches with the control-drive cam surfaces being formed at any point along a radius of the cam whereby the radius defines the full stroke of movement of the cam follower, the control-drive cam surfaces comprise grooves formed in corresponding flat surfaces of the disk-type control-drive cams with the grooves being double acting in effect whereby bidirectional control of movement of the cam follower is achieved and the common drive shaft is mounted with its axis extending in a vertical up-down direction and the flat surfaces of the control-drive cams on which the grooves are formed are downwardly disposed whereby the control-drive cam surfaces are protected from the deposition of dirt or other matter and minimal frictional contact resistance with the cam follower is achieved, the cam follower, the linkage means and the transport mechanism all are constructed of light-weight durable material whereby minimum inertia effects are attained and dynamic forces acting on the apparatus are maintained at a low level, and the contour of the cam surfaces formed in the respective control-drive cams is designed to include the kinematics of the follower, the linkage means and the transport mechanism in order to provide a desired motion pattern for the working head and the contour of the control-drive cam surfaces is not identical in configuration to the path of movement of the working head. 
     
     
       29. A cam controlled mechanical positioning apparatus according to claim 28 wherein certain of the relatively large diameter disk-type control-drive cams have at least two different control cam grooved surfaces formed thereon for producing respective different preprogrammed patterns of movement by the working head of the apparatus and further including means for selecting desired ones of the control cam grooved surfaces for controlling movement of the apparatus. 
     
     
       30. A cam controlled mechanical positioning apparatus according to claim 21 wherein said linkage means comprises at least one pivoted swinging arc linkage arm having its respective cam follower engaging an intermediate point thereof between a pivoted end and a swinging arc free end for mechanically amplifying the scope of movement induced by the control-drive surfaces cam and cam follower at the swinging arc free end, the swinging arc free end of the respective linkage arm being connected to the transport mechanism for providing a greater scope of movement thereto than the scope of movement of the cam follower and wherein the contour of the cam surfaces is designed to compensate for the swinging arc movement of the swinging arc free end of the linkage arm to convert the movement thereof to substantially rectilinear movement of the transport mechanism. 
     
     
       31. A cam controlled mechanical positioning apparatus according to claim 21 further including mechanical movement amplifying means acting on the transport mechanism for amplifying and extending the movement translated to the working head along at least one axis of movement. 
     
     
       32. In a low cost cam controlled mechanical positioning apparatus for automatically tracing out a predetermined path of movement for the working head of a machine tool or the like wherein said apparatus comprises a set of relatively large diameter disk-type control-drive cams secured in parallel planes on a common drive shaft rotatably supported on a base member, motor means mounted on said base member and coupled to said common drive shaft for rotating said common drive shaft and said control-drive cams at a predetermined speed of rotation, x and y cam followers engaging respective x and y axis of movement inducing cam surfaces formed on respective ones of said control-drive cams, x, y linkages coupled to respective ones of said cam followers for mechanically coupling movement of the cam followers to a working head to thereby move the working head over predetermined paths along x and y axes of movement, a differentially operable transport mechanism for supporting the working head, said transport mechanism being movably supported by support means and mounted for independent and interference free movement along the respective x and y axes with the x and y axis linkages being coupled to and mechanically driving said transport mechanism in a manner such that the plane of the x-y movement of the transport mechanism is parallel to the planes of the control-drive cams; the improvement comprising at least one additional large diameter disk-type control-drive cam for providing additional controlled movement to the working head of the machine tool, said additional control-drive cam being secured to the common drive shaft parallel to said x and y axis control-drive cams, an additional cam follower engaging the cam drive surface of said additional control-drive cam, a transport mechanism follower coupled between the base member and the differentially operable transport mechanism for freely and passively following movement of the transport mechanism in the the x-y plane without interference and additional mechanical movement motion transmission apparatus responsive to the additional movement cam follower and supported by said transport mechanism follower for mechanically transmitting at least one additional degree of movement to the working head. 
     
     
       33. A cam controlled mechanical positioning apparatus according to claim 32 wherein said transport mechanism follower comprises a swivel jointed pantograph mechanism having the end of one arm swivelly secured to the base member and the end of the remaining arm swivelly secured to the transport mechanism and wherein the plane of movement of the pantograph mechanism is parallel to the x-y plane of movement of the transport mechanism. 
     
     
       34. A cam controlled mechanical positioning apparatus according to claim 33 wherein said additional mechanical movement motion transmission apparatus comprises linear to rotational motion converting means coupled to the additional movement cam follower for converting linear movement of the additional cam follower means to corresponding rotational motion and rotational motion translating means mounted adjacent the working head for translating the rotational motion into another degree of movement for the working head. 
     
     
       35. A cam controlled mechanical positioning apparatus according to claim 34 wherein the linear to rotational motion converting means comprises rack and pinion means coupled to the additional cam follower and first sprocket and chain drive means mechanically driven by the pinion of the rack and pinion means and wherein said rotational motion translating means comprises second sprocket and chain driven means responsive to said first sprocket and chain drive means and coupled to and driving the working head along at least one additional degree of movement. 
     
     
       36. A cam controlled mechanical positioning apparatus according to claim 35 further including elongated boom means having one end secured to the transport mechanism with the working head supported on the remaining free end and wherein the transport mechanism follower is secured to and follows movement of the elongated boom means. 
     
     
       37. A cam controlled mechanical positioning apparatus according to claim 35 further including elongated boom means having one end secured to the transport mechanism and the working head supported on its remaining free end, the swivel jointed pantograph mechanism having the end of one arm swivelly secured to the end of the elongated boom means supporting the working head and having a remaining arm swivelly secured to the base member. 
     
     
       38. A cam controlled mechanical positioning apparatus according to claim 37 further including a controller-actuator disk mounted coaxially with the disk-type control drive cams on the rotatable drive shaft and further including electrical encoding means peripherally arrayed around said controller-actuator disk and engagable thereby at certain peripheral points during rotation of the disk whereby electrical control signals are produced for controlling desired auxiliary functions at predetermined points in the path of movement of the working head. 
     
     
       39. A cam controlled mechanical positioning apparatus according to claim 38 wherein said disk-type control-drive cam and controller-actuator disk include means whereby they may be readily removed and replaced with other cams and disks having differently programmed control surfaces formed thereon for producing a different pattern of movement for the working head, the relatively large disk-type control-drive cams are generally circular in shape and have a diameter of the order of 20 to 40 inches with the control-drive cam surfaces being formed at any point along a radius of the cam whereby the radius defines the full stroke of movement of the cam follower, the control-drive cam surfaces comprise grooves formed in corresponding flat surfaces of the disk-type control-drive cams with the grooves being double acting in effect whereby bidirectional control of movement of the cam follower is achieved and the common drive shaft is mounted with its axis extenting in a vertical up-down direction and the flat surfaces of the control-drive cams on which the grooves are formed are downwardly disposed whereby the control-drive cam surfaces are protected from the deposition of dirt or other matter and minimal frictional contact reistance with the cam follower is achieved, the cam follower, the linkage means and the transport mechanism all are constructed of light-weight durable material whereby minimum inertia effects are attained and dynamic forces acting on the apparatus are maintained at a low level and the contour of the cam surfaces formed in the respective control-drive cams is designed to include the kinematics of the follower, the linkage and the transport mechanism in order to provide a desired motion pattern for the working head and the contour of the control-drive cam surfaces is not identical in configuration to the path of movement of the working head. 
     
     
       40. A low cost cam controlled multi-directional movement mechanical positioning mechanism for providing an additional third dimensional and/or orthogonal pitch, roll or yaw movements for the working head of a machine tool or the like supported on a base member and having an x-y axis of movement mechanism capable of automatically providing a predetermined path of movement for the working head of a machine tool in a two-dimensional x-y plane, said mechanism comprising at least one relatively large diameter disk-type rotatable control-drive cam having at least one additional movement inducing control-drive cam surface formed thereon and secured to a drive shaft rotatably supported on a base member, means coupled to said drive shaft for rotating the same at a predetermined speed of rotation related to the movement of the working head in the two-dimensional x-y plane, respective additional movement cam follower engaging the additional movement inducing cam surface formed on the additional control-drive cam, and linkage means coupled to said additional movement cam follower for mechanically coupling movement of the cam follower to the working head to thereby move the working head either along an additional axis of movement orthogonal to the x-y plane of movement of the machine tool and/or to provide pitch, roll or yaw movements, said linkage means including an x-y axis of movement mechanism follower coupled between the base member and the x-y axis of movement mechanism for freely and passively following movement of said mechanism in the x-y plane without interference and additional mechanical movement motion transmission apparatus responsive to the additional cam follower means and supported by said x-y axis of movement mechanism follower for mechanically transmitting additional movement to the working head. 
     
     
       41. A cam controlled mechanical positioning mechanism according to claim 40 wherein said x-y axis of movement mechanism follower comprises a swivel jointed pantograph mechanism having the end of one arm swivelly secured to the base member and the end of the remaining arm swivelly secured to the x-y axis of movement mechanism and wherein the plane of movement of the pantograph mechanism is parallel to the x-y plane of movement of the x-y axis of movement mechanism. 
     
     
       42. A cam controlled mechanical positioning apparatus according to claim 41 wherein said additional mechanical movement motion transmission apparatus comprises linear to rotational motion converting means coupled to the additional movement cam follower for converting linear movement of the additional movement cam follower to corresponding rotational motion and rotational motion translating means mounted adjacent the working head and responsive to the linear to rotational motion converting means for translating the rotational motion into another degree of movement for the working head. 
     
     
       43. A cam controlled mechanical positioning apparatus according to claim 42 wherein the linear to rotational motion converting means comprises rack and pinion means coupled to the additional movement cam follower and first sprocket and chain drive means mechanically driven by the pinion of the rack and pinion means and wherein said rotational motion translating means comprises second sprocket and chain driven means responsive to said first sprocket and chain drive means and coupled to and driving the working head along at least one additional degree of movement. 
     
     
       44. A cam controlled mechanical positioning mechanism according to claim 40 further including elongated boom means having one end secured to and supported by the x-y axis movement mechanism and having the working head of the machine tool supported on the remaining free end thereof. 
     
     
       45. A cam controlled mechanical positioning mechanism according to claim 44 further including elongated boom means having one end secured to and supported by the x-y axis movement mechanism and having the working head supported on the remaining free end thereof, the swivel jointed pantograph mechanism having the end of one arm swivelly secured to the end of the elongated boom means supporting the working head and having the end of the remaining arm swivelly secured to the base member. 
     
     
       46. A cam controlled positioning apparatus according to claim 40 wherein the additional movement provided to the working head of the mechanism is along the z-axis. 
     
     
       47. A cam controlled positioning apparatus according to claim 40 wherein the additional movement provided to the working head of the mechanism is rotational about the x-axis in the nature of pitch. 
     
     
       48. A cam controlled positioning apparatus according to claim 40 wherein the additional movement provided to the working head of the mechanism is rotational about the y-axis in the nature of roll. 
     
     
       49. A cam controlled positioning apparatus according to claim 40 wherein the additional movement provided to the working head of the mechanism is rotational about the z-axis in the nature of yaw. 
     
     
       50. A cam controlled positioning apparatus according to claim 43 wherein the additional movement provided to the working head of the mechanism is along the z-axis. 
     
     
       51. A cam controlled positioning apparatus according to claim 43 wherein the additional movement provided to the working head of the mechanism is rotational about the x-axis in the nature of pitch. 
     
     
       52. A cam controlled positioning apparatus according to claim 43 wherein the additional movement provided to the working head of the mechanism is rotational about the y-axis in the nature of roll. 
     
     
       53. A cam controlled positioning apparatus according to claim 43 wherein the additional movement provided to the working head of the mechanism is rotational about the z-axis in the nature of yaw. 
     
     
       54. A cam controlled mechanical positioning apparatus according to claim 32 wherein the additional degree of controlled movement provided to the working head of the apparatus is along the z-axis. 
     
     
       55. A cam controlled mechanical positioning apparatus according to claim 32 wherein the additional degree of controlled movement provided to the working head of the apparatus is rotational about the x-axis in the nature of pitch. 
     
     
       56. A cam controlled mechanical positioning apparatus according to claim 32 wherein the additional degree of controlled movement provided to the working head of the apparatus is rotational about the y-axis in the nature of roll. 
     
     
       57. A cam controlled mechanical positioning apparatus according to claim 32 wherein the additional degree of controlled movement provided to the working head of the apparatus is rotational about the z-axis in the nature of yaw. 
     
     
       58. A cam controlled mechanical positioning apparatus according to claim 35 wherein the additional degree of controlled movement provided to the working head of the apparatus is along the z-axis. 
     
     
       59. A cam controlled mechanical positioning apparatus according to claim 35 wherein the additional degree of controlled movement provided to the working head of apparatus is rotational about the x-axis in the nature of pitch. 
     
     
       60. A cam controlled mechanical positioning apparatus according to claim 35 wherein the additional degree of controlled movement provided to the working head of the apparatus is rotational about the y-axis in the nature of roll. 
     
     
       61. A cam controlled mechanical positioning apparatus according to claim 35 wherein the additional degree of controlled movement provided to the working head of the apparatus is rotational about the z-axis in the nature of yaw. 
     
     
       62. A low cost cam controlled multi-directional movement mechanical positioning mechanism for providing third dimensional and pitch, roll or yaw movements for the working head of a machine tool or the like supported on a base member and having an x-y axis of movement mechanism capable of automatically providing a predetermined path of movement for the working head of a machine tool in a two dimensional x-y plane, said mechanism comprising a set of relatively large diameter disk-type, rotatable control-drive cams and additional movement inducing control-drive cam surfaces secured to a drive shaft rotatably supported on a base member, motor means coupledd to said drive shaft for rotating the control-drive cams at a predetermined speed of rotation related to the movement of the working head in the two-dimensional x-y plane, respective additional movement cam followers engaging the additional movement inducing cam surfaces formed on the control-drive cams, and linkage means coupled to said respective additional movement cam followers for mechanically coupling movement of the cam followers to the working head to thereby move the working head along an additional third dimensional axis of movement orthogonal to the x-y plane of movement of the machine tool and to provide pitch, roll or yaw movements thereto, said linkage means including an x-y axis of movement mechanism follower coupled between the base member the x-y axis of movement mechanism for freely and passively following movement of said mechanism in the x-y plane without interference and additional mechanical movement motion transmission apparatus responsive to the respective additional cam followers and supported to said x-y axis of movement mechanism follower for directly transmitting the additional z axis and pitch, roll or yaw movements to the working head.